Curtis 1239E - VCL RUNTIME RATES

9 — TUNING GUIDE
Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
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pg. 102
1.4 In the Speed Mode » Response menu, adjust the five Accel and Decel Rate parameters as
necessary while moving the throttle to dierent positions (i.e., neutral to full throttle, half throttle
to full throttle, full throttle to half throttle, full throttle to neutral, neutral to low throttle, etc.).
1.5 In the Speed Mode » Response menu, adjust the remaining three brake rate parameters as
necessary while reversing the throttle input (i.e., full throttle forward to low throttle reverse,
full throttle forward to full throttle reverse, full throttle reverse to low throttle forward, etc.).
If a brake input is present in the application (Brake Pedal Enable = On) continue adjusting these
three brake rates by applying dierent amounts of brake throttle (i.e., full throttle forward, then
apply full brake or full throttle forward, then apply low brake, etc.).
1.6 e parameters in the Speed Mode » Response » Fine Tuning menu typically do not need to be
changed as the default values work well in most applications.
2 − Torque Mode Tuning
2.1 Set Max Speed to the application’s maximum motor speed (rpm).
2.2 Kp, Ki, and Kd typically do not need to be changed as the default values will work well in most
applications. ese parameters control how tightly the controller limits the speed of the motor
to the programmed Max Speed.
2.3 Set Typical Max Speed to the expected maximum speed of the motor.
2.4 Adjust the parameters shown in Figure 12 to set up the throttle mapping:
• Drive Current Limit (Current Limits menu)
• Regen Current Limit (Current Limits menu)
• Forward/Back Full Restraint Speed (Torque Mode » Response menu)
• Brake Taper Speed (Torque Mode » Response » Fine Tuning menu)
• Neutral Braking (Torque Mode » Response menu)
• Neutral Taper Speed (Torque Mode » Response menu)
• Creep Torque (Torque Mode » Response » Fine Tuning menu).
2.5 In the Torque Mode » Response menu, adjust the four accel, decel, and release rate parameters as
necessary while moving the throttle to dierent positions (i.e., neutral to full throttle, half throttle
to full throttle, full throttle to half throttle, full throttle to neutral, neutral to low throttle, etc.).
2.6 e other parameters in the Torque Mode » Response » Fine Tuning menu typically may need
to be changed for some applications. Read the parameter descriptions and adjust as necessary.
Quick Links:
Speed Mode menu p.36
Response menu p.38
Accel Rate
Decel Rate
Brake Rate
Quick Links:
Torque Mode/Speed
Limiter menu p.42
Kp
Ki
Kd
Response menu -
Torqu e p.43
Fine Tining - Torque p.44
Figure 12 p.45
Current Limits menu p.46
Typical Max Speed p.57